TY - JOUR
T1 - Observer-Based Tuning of Two-Inertia Servo-Drive Systems With Integrated SAW Torque Transducers
AU - O'Sullivan, Timothy
AU - Bingham, Christopher M.
AU - Schofield, Nigel
N1 - Funding Information:
Manuscript received December 21, 2005; revised October 2, 2006. Abstract published on the Internet January 14, 2007. This work was supported in part by the U.K. Engineering and Physical Sciences Research Council (EPSRC) and in part by Sensor Technology Ltd., Banbury, U.K. T. M. O’Sullivan and C. M. Bingham are with the Electrical Machines and Drives Group, Department of Electronic and Electrical Engineering, University of Sheffield, Sheffield S10 2TN, U.K. (e-mail: [email protected]). N. Schofield is with the Department of Electrical Engineering and Electronics, University of Manchester, Manchester M13 9PL, U.K. Color versions of one or more of the figures in this paper are available online at http://ieeexplore.ieee.org. Digital Object Identifier 10.1109/TIE.2007.892743
Copyright:
Copyright 2008 Elsevier B.V., All rights reserved.
PY - 2007/4/2
Y1 - 2007/4/2
N2 - This paper proposes controller design and tuning methodologies that facilitate the rejection of periodic load-side disturbances applied to a torsional mechanical system while simultaneously compensating for the observer's inherent phase delay. This facilitates the use of lower-bandwidth practically realizable disturbance observers. The merits of implementing full- and reduced-order observers are investigated, with the latter being implemented with a new low-cost servo-machine-integrated high-bandwidth torque-sensing device based on surface acoustic wave (SAW) technology. Specifically, the authors' previous work based on proportional-integral-derivative (PID) and resonance ratio control (RRC) controllers (IEEE Trans. Ind. Electron., vol. 53, no. 4, pp. 1226-1237, Aug. 2006) is augmented with observer disturbance feedback. It is shown that higher-bandwidth disturbance observers are required to maximize disturbance attenuation over the low-frequency band (as well as the desired rejection frequency), thereby attenuating a wide range of possible frequencies. In such cases, therefore, it is shown that the RRC controller is the preferred solution since it can employ significantly higher observer bandwidth, when compared to PID counterparts, by virtue of reduced noise sensitivity. Furthermore, it is demonstrated that the prototype servo-machine-integrated 20-N · m SAW torque transducer is not unduly affected by machine-generated electromagnetic noise and exhibits similar dynamic behavior as a conventional instrument inline torque transducer.
AB - This paper proposes controller design and tuning methodologies that facilitate the rejection of periodic load-side disturbances applied to a torsional mechanical system while simultaneously compensating for the observer's inherent phase delay. This facilitates the use of lower-bandwidth practically realizable disturbance observers. The merits of implementing full- and reduced-order observers are investigated, with the latter being implemented with a new low-cost servo-machine-integrated high-bandwidth torque-sensing device based on surface acoustic wave (SAW) technology. Specifically, the authors' previous work based on proportional-integral-derivative (PID) and resonance ratio control (RRC) controllers (IEEE Trans. Ind. Electron., vol. 53, no. 4, pp. 1226-1237, Aug. 2006) is augmented with observer disturbance feedback. It is shown that higher-bandwidth disturbance observers are required to maximize disturbance attenuation over the low-frequency band (as well as the desired rejection frequency), thereby attenuating a wide range of possible frequencies. In such cases, therefore, it is shown that the RRC controller is the preferred solution since it can employ significantly higher observer bandwidth, when compared to PID counterparts, by virtue of reduced noise sensitivity. Furthermore, it is demonstrated that the prototype servo-machine-integrated 20-N · m SAW torque transducer is not unduly affected by machine-generated electromagnetic noise and exhibits similar dynamic behavior as a conventional instrument inline torque transducer.
KW - Filter noise
KW - Motion control
KW - Motor drives
KW - Observers
KW - Resonance
KW - State feedback
KW - Surface acoustic wave (SAW) devices
KW - Velocity control
UR - http://www.scopus.com/inward/record.url?scp=34247167657&partnerID=8YFLogxK
U2 - 10.1109/TIE.2007.892743
DO - 10.1109/TIE.2007.892743
M3 - Article
AN - SCOPUS:34247167657
VL - 54
SP - 1080
EP - 1091
JO - IEEE Transactions on Industrial Electronics
JF - IEEE Transactions on Industrial Electronics
SN - 0278-0046
IS - 2
M1 - 4141228
ER -